煤矿检测机器人机械手动力学及静力学分析  

Dynamics and Statics Analysis of Manipulator of Coalmine Detection Robot

作　　者：李阳[1] 刘素梅[1,2] 屈东东 时明明[1] 

机构地区：[1]安徽农业大学工学院,安徽合肥230036 [2]中国科学院等离子物理研究所,安徽合肥230031

出　　处：《机械传动》2017年第6期85-89,共5页Journal of Mechanical Transmission

基　　金：安徽省科技攻关计划项目(1301022075)

摘　　要：针对煤矿无人区域的实际情况,设计并研制了一种四轮驱动式小空间检测机器人系统,用以井下环境信息和样品的采集。机器人结构主要由机器人本体、移动机构、控制器和机械臂机构等组成。主要介绍机器人的系统组成,并对5自由度机械手进行动力学和静力学分析,验证其结构设计的合理性和实际工作中的承载性能。分析结果表明,机械手各关节力矩的变化稳定且均未超过电机所能提供的极限值;小臂最大变形0.012 397 mm,最大应力15.802 9 MPa均对系统结构影响很小,从而说明5自由度机械手选型准确,结构设计合理,能够满足煤矿实际工作需求。Aiming at the actual situation of coal mines unmanned area, a four wheels drives small space detecting robot system for collecting information and samples of the underground environment is designed and developed. The robot is composed of a robot mechanism, travel mechanism, the controller and manipulator mechanism. The robot system components are described, the dynamics and static analysis of the 5 degrees of freedom manipulator is conducted to verify the rationality of its structural design and bearing performance in practical work. The results show that the change of each robot joint torques stable and did not exceed the limits value of the motor to provide. The maximum deformation of forearm is 0. 012 397 mm, the maximum stress on the system configuration 15. 802 9 MPa is little affected, it shows that 5 DOF manipulator type selection is accurate, structure design is reasonable, the practical needs of the coal mine is met.

关 键 词：检测机器人 机械手 动力学分析 静力学分析 

分 类 号：TD76[矿业工程—矿井通风与安全] TP242[自动化与计算机技术—检测技术与自动化装置]